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  <ul>
<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d9/d62/namespacecv_1_1viz.html">viz</a></li><li class="navelem"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html">Camera</a></li>  </ul>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="../../d0/dd1/classcv_1_1viz_1_1Camera-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">cv::viz::Camera Class Reference<div class="ingroups"><a class="el" href="../../d1/d19/group__viz.html">3D Visualizer</a></div></div>  </div>
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<p>This class wraps intrinsic parameters of a camera.  
 <a href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#details">More...</a></p>

<p><code>#include &lt;opencv2/viz/types.hpp&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac4afd9495231ef900a3ac44d5dbae1eb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#ac4afd9495231ef900a3ac44d5dbae1eb">Camera</a> (double fx, double fy, double cx, double cy, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;window_size)</td></tr>
<tr class="memdesc:ac4afd9495231ef900a3ac44d5dbae1eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html" title="This class wraps intrinsic parameters of a camera. ">Camera</a>.  <a href="#ac4afd9495231ef900a3ac44d5dbae1eb">More...</a><br /></td></tr>
<tr class="separator:ac4afd9495231ef900a3ac44d5dbae1eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfb8260cd7b7690a88034d744f3aaaf7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#adfb8260cd7b7690a88034d744f3aaaf7">Camera</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;fov, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;window_size)</td></tr>
<tr class="separator:adfb8260cd7b7690a88034d744f3aaaf7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ad47710fac7456055e3b0fa0483a910"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a0ad47710fac7456055e3b0fa0483a910">Camera</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#gaff0100a48f049fb15584a4a657eae838">Matx33d</a> &amp;K, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;window_size)</td></tr>
<tr class="separator:a0ad47710fac7456055e3b0fa0483a910"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2a32b2bbdea2f30f5ce00e76af71c0a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#af2a32b2bbdea2f30f5ce00e76af71c0a">Camera</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga366070cdc95233a6b6db521dfd99e713">Matx44d</a> &amp;proj, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;window_size)</td></tr>
<tr class="separator:af2a32b2bbdea2f30f5ce00e76af71c0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16a26df9d1ddf4833fb8b2a801c369cf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a16a26df9d1ddf4833fb8b2a801c369cf">computeProjectionMatrix</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga366070cdc95233a6b6db521dfd99e713">Matx44d</a> &amp;proj) const</td></tr>
<tr class="memdesc:a16a26df9d1ddf4833fb8b2a801c369cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes projection matrix using intrinsic parameters of the camera.  <a href="#a16a26df9d1ddf4833fb8b2a801c369cf">More...</a><br /></td></tr>
<tr class="separator:a16a26df9d1ddf4833fb8b2a801c369cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10c22f82de4fb25cdbe54b20128b277e"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a10c22f82de4fb25cdbe54b20128b277e">getClip</a> () const</td></tr>
<tr class="separator:a10c22f82de4fb25cdbe54b20128b277e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ddbf11b01fc6a9413bf54ec92d44424"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a2ddbf11b01fc6a9413bf54ec92d44424">getFocalLength</a> () const</td></tr>
<tr class="separator:a2ddbf11b01fc6a9413bf54ec92d44424"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1654e7af12074c8c9df6821d0e829cb"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#ac1654e7af12074c8c9df6821d0e829cb">getFov</a> () const</td></tr>
<tr class="separator:ac1654e7af12074c8c9df6821d0e829cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a816a850f66627cfd684b0658ab23dd58"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a816a850f66627cfd684b0658ab23dd58">getPrincipalPoint</a> () const</td></tr>
<tr class="separator:a816a850f66627cfd684b0658ab23dd58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac86c2d0e36a40a369b83e9b1c5dfb655"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#ac86c2d0e36a40a369b83e9b1c5dfb655">getWindowSize</a> () const</td></tr>
<tr class="separator:ac86c2d0e36a40a369b83e9b1c5dfb655"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97199300e121417122739c0548fb54e7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a97199300e121417122739c0548fb54e7">setClip</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;clip)</td></tr>
<tr class="separator:a97199300e121417122739c0548fb54e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57adc00dd7c597cdb41e8f4b05650334"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a57adc00dd7c597cdb41e8f4b05650334">setFov</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;fov)</td></tr>
<tr class="separator:a57adc00dd7c597cdb41e8f4b05650334"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3febec742396f7fc02bcb95d78e51f5a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a3febec742396f7fc02bcb95d78e51f5a">setWindowSize</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;window_size)</td></tr>
<tr class="separator:a3febec742396f7fc02bcb95d78e51f5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a753809aff611cdcc5a8a377126156b05"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html">Camera</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html#a753809aff611cdcc5a8a377126156b05">KinectCamera</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;window_size)</td></tr>
<tr class="memdesc:a753809aff611cdcc5a8a377126156b05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a Kinect <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html" title="This class wraps intrinsic parameters of a camera. ">Camera</a> with.  <a href="#a753809aff611cdcc5a8a377126156b05">More...</a><br /></td></tr>
<tr class="separator:a753809aff611cdcc5a8a377126156b05"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class wraps intrinsic parameters of a camera. </p>
<p>It provides several constructors that can extract the intrinsic parameters from field of view, intrinsic matrix and projection matrix. : </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ac4afd9495231ef900a3ac44d5dbae1eb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac4afd9495231ef900a3ac44d5dbae1eb">&#9670;&nbsp;</a></span>Camera() <span class="overload">[1/4]</span></h2>

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          <td class="memname">cv::viz::Camera::Camera </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>fx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>fy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>cx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>cy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
          <td class="paramname"><em>window_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructs a <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html" title="This class wraps intrinsic parameters of a camera. ">Camera</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fx</td><td>Horizontal focal length. </td></tr>
    <tr><td class="paramname">fy</td><td>Vertical focal length. </td></tr>
    <tr><td class="paramname">cx</td><td>x coordinate of the principal point. </td></tr>
    <tr><td class="paramname">cy</td><td>y coordinate of the principal point. </td></tr>
    <tr><td class="paramname">window_size</td><td>Size of the window. This together with focal length and principal point determines the field of view. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="adfb8260cd7b7690a88034d744f3aaaf7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adfb8260cd7b7690a88034d744f3aaaf7">&#9670;&nbsp;</a></span>Camera() <span class="overload">[2/4]</span></h2>

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        <tr>
          <td class="memname">cv::viz::Camera::Camera </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td>
          <td class="paramname"><em>fov</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
          <td class="paramname"><em>window_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fov</td><td>Field of view (horizontal, vertical) in radians </td></tr>
    <tr><td class="paramname">window_size</td><td>Size of the window. Principal point is at the center of the window by default. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a0ad47710fac7456055e3b0fa0483a910"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0ad47710fac7456055e3b0fa0483a910">&#9670;&nbsp;</a></span>Camera() <span class="overload">[3/4]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaff0100a48f049fb15584a4a657eae838">Matx33d</a> &amp;&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
          <td class="paramname"><em>window_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">K</td><td>Intrinsic matrix of the camera with the following form <p class="formulaDsp">
\[ \begin{bmatrix} f_x &amp; 0 &amp; c_x\\ 0 &amp; f_y &amp; c_y\\ 0 &amp; 0 &amp; 1\\ \end{bmatrix} \]
</p>
 </td></tr>
    <tr><td class="paramname">window_size</td><td>Size of the window. This together with intrinsic matrix determines the field of view. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
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          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga366070cdc95233a6b6db521dfd99e713">Matx44d</a> &amp;&#160;</td>
          <td class="paramname"><em>proj</em>, </td>
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          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
          <td class="paramname"><em>window_size</em>&#160;</td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">proj</td><td>Projection matrix of the camera with the following form <p class="formulaDsp">
\[ \begin{bmatrix} \frac{2n}{r-l} &amp; 0 &amp; \frac{r+l}{r-l} &amp; 0\\ 0 &amp; \frac{2n}{t-b} &amp; \frac{t+b}{t-b} &amp; 0\\ 0 &amp; 0 &amp; -\frac{f+n}{f-n} &amp; -\frac{2fn}{f-n}\\ 0 &amp; 0 &amp; -1 &amp; 0\\ \end{bmatrix} \]
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    <tr><td class="paramname">window_size</td><td>Size of the window. This together with projection matrix determines the field of view. </td></tr>
  </table>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a16a26df9d1ddf4833fb8b2a801c369cf">&#9670;&nbsp;</a></span>computeProjectionMatrix()</h2>

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          <td class="memname">void cv::viz::Camera::computeProjectionMatrix </td>
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<p>Computes projection matrix using intrinsic parameters of the camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">proj</td><td>Output projection matrix with the following form <p class="formulaDsp">
\[ \begin{bmatrix} \frac{2n}{r-l} &amp; 0 &amp; \frac{r+l}{r-l} &amp; 0\\ 0 &amp; \frac{2n}{t-b} &amp; \frac{t+b}{t-b} &amp; 0\\ 0 &amp; 0 &amp; -\frac{f+n}{f-n} &amp; -\frac{2fn}{f-n}\\ 0 &amp; 0 &amp; -1 &amp; 0\\ \end{bmatrix} \]
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<h2 class="memtitle"><span class="permalink"><a href="#a10c22f82de4fb25cdbe54b20128b277e">&#9670;&nbsp;</a></span>getClip()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a2ddbf11b01fc6a9413bf54ec92d44424">&#9670;&nbsp;</a></span>getFocalLength()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#ac1654e7af12074c8c9df6821d0e829cb">&#9670;&nbsp;</a></span>getFov()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a816a850f66627cfd684b0658ab23dd58">&#9670;&nbsp;</a></span>getPrincipalPoint()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#ac86c2d0e36a40a369b83e9b1c5dfb655">&#9670;&nbsp;</a></span>getWindowSize()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a753809aff611cdcc5a8a377126156b05">&#9670;&nbsp;</a></span>KinectCamera()</h2>

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          <td class="memname">static <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html">Camera</a> cv::viz::Camera::KinectCamera </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
          <td class="paramname"><em>window_size</em></td><td>)</td>
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<p>Creates a Kinect <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html" title="This class wraps intrinsic parameters of a camera. ">Camera</a> with. </p>
<ul>
<li>fx = fy = 525</li>
<li>cx = 320</li>
<li>cy = 240</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">window_size</td><td>Size of the window. This together with intrinsic matrix of a Kinect <a class="el" href="../../dc/d3a/classcv_1_1viz_1_1Camera.html" title="This class wraps intrinsic parameters of a camera. ">Camera</a> determines the field of view. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a97199300e121417122739c0548fb54e7">&#9670;&nbsp;</a></span>setClip()</h2>

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          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td>
          <td class="paramname"><em>clip</em></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a57adc00dd7c597cdb41e8f4b05650334">&#9670;&nbsp;</a></span>setFov()</h2>

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          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaf20d857c2077c986d3b303e3d58bbc54">Vec2d</a> &amp;&#160;</td>
          <td class="paramname"><em>fov</em></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a3febec742396f7fc02bcb95d78e51f5a">&#9670;&nbsp;</a></span>setWindowSize()</h2>

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          <td class="memname">void cv::viz::Camera::setWindowSize </td>
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          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/viz/<a class="el" href="../../d3/d0e/contrib_2modules_2viz_2include_2opencv2_2viz_2types_8hpp.html">types.hpp</a></li>
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